To idle around, about 30" is pretty near the min which gives you a few inches to spare on most boats which is reasonably safe if you know the contour and composition of the bottom and do not have your boat slammed. My area is pretty shallow, especially mid to late summer and I can get mine on and off a lift with 2.4 feet of water, anything less and I have to push it around by hand.
If you are keeping it moored at a slip and do not put it on a lift, I would want an extra 18 inches or more deeper than the draft to allow the boat to still be floating when it is in the trough of waves/rollers and rocking around. Rollers are not a factor if you put it on a lift though and the depth required to use a lift will vary depending on which type - canitlever style lifts require the least deppth and floating style the most.
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